diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h index c9324d9374..4216c1cb2b 100644 --- a/libraries/AP_AHRS/AP_AHRS.h +++ b/libraries/AP_AHRS/AP_AHRS.h @@ -54,25 +54,10 @@ public: // Constructor AP_AHRS() : - roll(0.0f), - pitch(0.0f), - yaw(0.0f), - roll_sensor(0), - pitch_sensor(0), - yaw_sensor(0), _vehicle_class(AHRS_VEHICLE_UNKNOWN), - _compass(nullptr), - _optflow(nullptr), - _airspeed(nullptr), - _beacon(nullptr), - _compass_last_update(0), _cos_roll(1.0f), _cos_pitch(1.0f), - _cos_yaw(1.0f), - _sin_roll(0.0f), - _sin_pitch(0.0f), - _sin_yaw(0.0f), - _active_accel_instance(0) + _cos_yaw(1.0f) { _singleton = this; @@ -86,12 +71,6 @@ public: // enable centrifugal correction by default _flags.correct_centrifugal = true; - // initialise _home - _home.options = 0; - _home.alt = 0; - _home.lng = 0; - _home.lat = 0; - _last_trim = _trim.get(); _rotation_autopilot_body_to_vehicle_body.from_euler(_last_trim.x, _last_trim.y, 0.0f); _rotation_vehicle_body_to_autopilot_body = _rotation_autopilot_body_to_vehicle_body.transposed(); diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h index 0c30b7f048..87978a94da 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.h +++ b/libraries/AP_AHRS/AP_AHRS_DCM.h @@ -25,28 +25,10 @@ class AP_AHRS_DCM : public AP_AHRS { public: AP_AHRS_DCM() : AP_AHRS() - , _omega_I_sum_time(0.0f) - , _renorm_val_sum(0.0f) - , _renorm_val_count(0) , _error_rp(1.0f) , _error_yaw(1.0f) - , _gps_last_update(0) - , _ra_deltat(0.0f) - , _ra_sum_start(0) - , _last_declination(0.0f) , _mag_earth(1, 0) - , _have_gps_lock(false) - , _last_lat(0) - , _last_lng(0) - , _position_offset_north(0.0f) - , _position_offset_east(0.0f) - , _have_position(false) - , _last_wind_time(0) - , _last_airspeed(0.0f) - , _last_consistent_heading(0) , _imu1_weight(0.5f) - , _last_failure_ms(0) - , _last_startup_ms(0) { _dcm_matrix.identity(); diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp index 3ee3f485f8..f778c39bc7 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp @@ -36,9 +36,6 @@ AP_AHRS_NavEKF::AP_AHRS_NavEKF(NavEKF2 &_EKF2, AP_AHRS_DCM(), EKF2(_EKF2), EKF3(_EKF3), - _ekf2_started(false), - _ekf3_started(false), - _force_ekf(false), _ekf_flags(flags) { _dcm_matrix.identity();